87 lines
1.4 KiB
Markdown
87 lines
1.4 KiB
Markdown
|
# Overview
|
||
|
|
|
||
|
|
This is a ROS compatible version with MaskRCNN
|
||
|
|
|
||
|
|
# Reuirements
|
||
|
|
|
||
|
|
- Ubuntu 18
|
||
|
|
- Python 2.7
|
||
|
|
- ROS Melodic
|
||
|
|
- docker [optional]
|
||
|
|
- docker-compose [optional]
|
||
|
|
|
||
|
|
# Docker
|
||
|
|
|
||
|
|
```sh
|
||
|
|
cd MaskRCNN_ROS/docker
|
||
|
|
docker-compose build
|
||
|
|
docker-compose up
|
||
|
|
```
|
||
|
|
|
||
|
|
# MaskRCNN Semantic Server
|
||
|
|
|
||
|
|
```sh
|
||
|
|
roslaunch maskrcnn_ros action_server.launch
|
||
|
|
```
|
||
|
|
|
||
|
|
# Server
|
||
|
|
|
||
|
|
## Request label and score
|
||
|
|
|
||
|
|
- action_server.py
|
||
|
|
- semantic.action
|
||
|
|
|
||
|
|
## Request original MaskRCNN result
|
||
|
|
|
||
|
|
- action_server_maskrcnn.py
|
||
|
|
- semantic_maskrcnn.action
|
||
|
|
- objectInfo.msg
|
||
|
|
|
||
|
|
# Get dataset
|
||
|
|
|
||
|
|
```sh
|
||
|
|
wget https://github.com/matterport/Mask_RCNN/releases/download/v2.1/balloon_dataset.zip
|
||
|
|
unzip balloon_dataset.zip
|
||
|
|
```
|
||
|
|
|
||
|
|
# CNN model
|
||
|
|
|
||
|
|
Run download_model.sh to get mask_rcnn_coco.h5 and mask_rcnn_balloon.h5.
|
||
|
|
|
||
|
|
Manually download:
|
||
|
|
|
||
|
|
```sh
|
||
|
|
wget -c https://github.com/matterport/Mask_RCNN/releases/download/v1.0/mask_rcnn_coco.h5
|
||
|
|
wget -c https://github.com/matterport/Mask_RCNN/releases/download/v2.1/mask_rcnn_balloon.h5
|
||
|
|
```
|
||
|
|
|
||
|
|
# Test Action communication
|
||
|
|
|
||
|
|
- Start server
|
||
|
|
```sh
|
||
|
|
roslaunch maskrcnn_ros action_server.launch
|
||
|
|
```
|
||
|
|
- Start Client
|
||
|
|
|
||
|
|
```sh
|
||
|
|
roslaunch maskrcnn_ros action_client.launch
|
||
|
|
```
|
||
|
|
|
||
|
|
# Test MaskRCNN semantic segmentation
|
||
|
|
|
||
|
|
## Simple segmentation example
|
||
|
|
|
||
|
|
```sh
|
||
|
|
cd include/MaskRCNN/MaskRCNN/samples
|
||
|
|
python demo.py
|
||
|
|
```
|
||
|
|
|
||
|
|
## TUM dataset
|
||
|
|
|
||
|
|
```sh
|
||
|
|
cd include/MaskRCNN/MaskRCNN/samples
|
||
|
|
python tum_infer.py
|
||
|
|
```
|
||
|
|
|
||
|
|
tum_infer.py: will infer one image from TUM dataset if no argument is given
|